CN109753069B - Vehicle control method and device - Google Patents
Vehicle control method and device Download PDFInfo
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- CN109753069B CN109753069B CN201910041443.8A CN201910041443A CN109753069B CN 109753069 B CN109753069 B CN 109753069B CN 201910041443 A CN201910041443 A CN 201910041443A CN 109753069 B CN109753069 B CN 109753069B
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- 238000004088 simulation Methods 0.000 claims description 45
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- 238000002372 labelling Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
- G05D1/0027—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0062—Adapting control system settings
- B60W2050/007—Switching between manual and automatic parameter input, and vice versa
- B60W2050/0074—Driver shifts control to the controller, e.g. by pressing a button
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/215—Selection or confirmation of options
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/229—Attention level, e.g. attentive to driving, reading or sleeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2756/00—Output or target parameters relating to data
- B60W2756/10—Involving external transmission of data to or from the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0051—Handover processes from occupants to vehicle
Abstract
The embodiment of the application discloses a vehicle control method and device. One embodiment of the method comprises: receiving a driving assistance instruction associated with a vehicle; and sending an auxiliary control instruction to the vehicle so that the vehicle executes the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by an auxiliary driving user performing simulated driving operation based on the running environment information of the vehicle presented to the auxiliary driving user. The driving assisting method and the driving assisting device have the advantages that the driving assisting user at the remote control end carries out simulated driving operation based on the running environment information indicating the environment where the vehicle is located, and generates the assisting control instruction to carry out assisted driving on the vehicle, so that the driving convenience of the vehicle is enhanced, and the driving safety of the vehicle is improved.
Description
Technical Field
The application relates to the field of vehicles, in particular to the field of vehicle control, and particularly relates to a vehicle control method and device.
Background
At present, as computer technologies such as image recognition are widely applied to vehicles, the environmental awareness of the vehicles is improved. However, the environment sensing ability of the vehicle is limited, and in such a case as in the case of traveling to an area having a complicated traveling environment, depending on the environment sensing ability of the vehicle itself, there may occur such a case as the vehicle cannot pass through the area having the complicated traveling environment, an accident occurs, and the like.
Disclosure of Invention
The embodiment of the application provides a vehicle control method and device.
In a first aspect, an embodiment of the present application provides a vehicle control method, including: receiving a driving assistance instruction associated with a vehicle; and sending an auxiliary control instruction to the vehicle so that the vehicle executes the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by an auxiliary driving user performing simulated driving operation based on the running environment information of the vehicle presented to the auxiliary driving user.
In a second aspect, an embodiment of the present application provides a vehicle control apparatus, including: an instruction receiving unit configured to receive a driving assistance instruction associated with a vehicle; the auxiliary driving unit is configured to send an auxiliary control instruction to the vehicle so as to enable the vehicle to execute the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by an auxiliary driving user performing simulated driving operation based on running environment information of the vehicle presented to the auxiliary driving user.
According to the vehicle control method and the vehicle control device, the auxiliary driving instruction associated with the vehicle is received; and sending an auxiliary control instruction to the vehicle so that the vehicle executes the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by an auxiliary driving user performing simulated driving operation based on the running environment information of the vehicle presented to the auxiliary driving user. The driving assisting method and the driving assisting device have the advantages that the driving assisting user at the remote control end carries out simulated driving operation based on the running environment information indicating the environment where the vehicle is located, and generates the assisting control instruction to carry out assisted driving on the vehicle, so that the driving convenience of the vehicle is enhanced, and the driving safety of the vehicle is improved.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 illustrates an exemplary system architecture to which the vehicle control method of the present application may be applied;
FIG. 2 shows a flow chart of one embodiment of a vehicle control method according to the present application;
FIG. 3 illustrates an exemplary flow chart of a vehicle control method according to the present application;
fig. 4 shows a schematic configuration diagram of an embodiment of a vehicle control apparatus according to the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 shows an exemplary system architecture to which the vehicle control method of the present application may be applied.
As shown in fig. 1, the system architecture may include a vehicle 101, a server 102 of a remote control end, and a simulated driving device 103 of the remote control end. Vehicle 101 may be an autonomous vehicle with autonomous driving capabilities. The person of the remote control end who assists driving of the vehicle 101 by simulating driving operation may be referred to as a driving assist user.
The driving simulation apparatus 103 of the remote control side has a driving simulation member, a display, and the like. The driving simulation components comprise a steering wheel, a pedal plate and the like.
And the auxiliary driving user of the remote control end carries out the simulated driving operation on the simulated driving component according to the driving environment information presented to the auxiliary driving user, and generates an auxiliary control instruction corresponding to the simulated driving operation. The generated auxiliary control instruction may be transmitted to the vehicle 101 via the server 102 of the remote control side. The control system of the vehicle 101 executes the assist control command to control the vehicle 101.
Referring to fig. 2, a flow of one embodiment of a vehicle control method according to the present application is shown. The method comprises the following steps:
in step 201, a driving assistance instruction associated with a vehicle is received.
In the present embodiment, the driving assistance instruction associated with the vehicle may be received by the driving simulation apparatus of the remote control terminal. The driving assist instruction may be generated in a case where the vehicle requires driving assist.
In the present embodiment, the driving assistance instruction associated with the vehicle may be a driving assistance instruction input by a driving assistance user at the remote control terminal. When the assistant driving user of the remote control end determines that the vehicle needs assistant driving according to the running environment information of the vehicle of the assistant driving user presented to the remote control end, the assistant driving user of the remote control end can input an assistant driving instruction. The driving assistance instruction which can be input by the driving assistance user of the remote control end can be received by the driving simulation equipment of the remote control end.
For example, the vehicle transmits the running environment information generated on the vehicle to the server of the remote control terminal in real time, and the server of the remote control terminal transmits the running environment information to the driving simulation device of the remote control terminal. The running environment information of the vehicle may include, but is not limited to: the acquired driving environment image and the attribute of the obstacle detected by the vehicle. The acquired environment image includes other vehicles, pedestrians, traffic signs and the like near the vehicle. And displaying the running environment information to the assistant driving user of the remote control end on the simulation driving equipment of the remote control end, so that the assistant driving user of the remote control end can know the current environment of the vehicle. When the driving assistance user at the remote control end finds that the vehicle is in a complex environment and needs driving assistance according to the driving environment information of the driving assistance user presented to the remote control end. The driving assistance user at the remote control end can input a driving assistance instruction. For example, when the vehicle is in a complex driving environment, the vehicle may stop driving or may not pass through a complex area of a road for a long time due to the fact that a driving decision cannot be made, at this time, the assistant driving user at the remote control end may determine that the vehicle stops driving or cannot pass through the complex area of the road for a long time according to the driving environment information of the vehicle presented to the assistant driving user, the assistant driving user at the remote control end may input an assistant driving instruction, and the assistant driving instruction which may be input by the assistant driving user at the remote control end is received by the analog driving device at the remote control end.
In the present embodiment, the driving assistance instruction associated with the vehicle may also be a driving assistance instruction generated on the vehicle and transmitted by the vehicle. For example, when the vehicle is in a complex driving environment, the driver of the vehicle may click a button requesting assisted driving on an interface in an application of the terminal interacting with the autonomous vehicle to request the assisted driving user to perform a simulated driving operation to help the driver of the vehicle stop. After a driver of the vehicle clicks a button, an auxiliary driving instruction is generated and sent to a server of the remote control end by the vehicle, and then the auxiliary driving instruction sent by the vehicle is sent to the driving simulation equipment of the remote control end by the server of the remote control end.
In the present embodiment, the assist control instruction is generated by the driver-assisting user performing a simulated driving operation based on the running environment information of the vehicle presented to the driver-assisting user. The control command executable by the vehicle generated based on the simulated driving operation may be referred to as an assist control command. The driving simulation device at the remote control end can set the driving simulation components such as the steering wheel and the foot pedal to be in the working state after receiving the auxiliary driving instruction associated with the vehicle. The auxiliary driving user of the remote control end can operate the simulation driving component to perform simulation driving operation, and simulation control instructions corresponding to the simulation driving operation can be generated by the simulation driving equipment of the remote control end.
In this embodiment, a correspondence relationship between a simulated control command generated by a simulated driving operation such as turning of a steering wheel or a foot pedal by a driver assistance user at a remote control end and a control command output by a control system of a vehicle may be established in advance. After the simulated control instruction corresponding to the simulated driving operation is generated by the simulated driving device of the remote control end, the simulated control instruction corresponding to the simulated driving operation can be converted into a corresponding control instruction which can be executed by the vehicle according to the pre-established corresponding relationship between the simulated control instruction and the control instruction output by the control system of the vehicle.
In the present embodiment, the driving simulation apparatus at the remote control side may have the same template driving part as the control part of the vehicle. Therefore, when the simulated driving device used by the driver-assistant user performs the simulated driving operation, the generated simulated control instruction corresponding to the simulated driving operation is the control instruction which can be directly executed by the corresponding control component of the vehicle, namely the generated simulated control instruction corresponding to the simulated driving operation can be directly used as the assistant control instruction.
In this embodiment, after the auxiliary control instruction is generated by the driving simulation device at the remote control end, the auxiliary control instruction may be sent to the server at the remote control end by the driving simulation device at the remote control end, and then the auxiliary control instruction is sent to the vehicle by the server at the remote control end, so that after the vehicle receives the auxiliary control instruction, the vehicle may execute the auxiliary control instruction, and auxiliary driving of the vehicle is achieved.
In this embodiment, the driving environment information may be presented to the assistant driving user of the remote control end on the driving simulation device of the remote control end, and the assistant driving user of the remote control end may know the current environment of the vehicle. The auxiliary driving user of the remote control end can operate the simulated driving component to rotate the steering wheel, step on the pedal and the like according to the known current environment of the vehicle, so as to generate an auxiliary control instruction, and the auxiliary control instruction is sent to the vehicle to execute the auxiliary control instruction. Thus, the driver-assistant user of the remote control terminal can drive the vehicle in a position equivalent to the driver-assistant user of the current remote control terminal.
In some optional implementations of the present embodiment, the driving assistance instruction may be generated based on the vehicle detecting that the vehicle is in a complex driving environment. When the vehicle is in a complex driving environment, the vehicle can detect that the vehicle is in the complex driving environment according to the driving environment information of the vehicle, an auxiliary driving instruction can be generated by the vehicle, the auxiliary driving instruction is sent to a server of a remote control end by the vehicle, and then the auxiliary driving instruction sent by the vehicle is sent to a driving simulation device of the remote control end by the server of the remote control end. The driving simulation device at the remote control end can set the driving simulation components such as the steering wheel and the foot pedal to be in the working state after receiving the auxiliary driving instruction associated with the vehicle.
In some optional implementations of the present embodiment, the driving assistance instruction associated with the vehicle may be generated based on a driver of the vehicle performing a driving assistance instruction operation in a parking situation, a fatigue situation, or the like.
When the driver of the vehicle drives the vehicle to a place and needs to park the vehicle through the assistant driving, the assistant driving instruction operation performed by the driver of the vehicle may be to click a button requesting the assistant driving on an interface in an application of the terminal interacting with the automatic driving vehicle to request the assistant driving user to perform a simulation driving operation to control the vehicle to drive to a parking space for parking. After a driver of the vehicle clicks a button, an auxiliary driving instruction is generated and is sent to a server of the remote control terminal by the vehicle, and then the auxiliary driving instruction sent by the vehicle is sent to a driving simulation device of the remote control terminal by the server of the remote control terminal, and after the auxiliary driving instruction associated with the vehicle is received by the driving simulation device of the remote control terminal, a steering wheel, a pedal plate and other driving simulation components can be set to be in an operating state.
When the driver of the vehicle is tired and needs to assist driving, the driving assistance instruction operation performed by the driver of the vehicle may be to click a button requesting driving assistance on an interface in an application of the terminal interacting with the autonomous vehicle to request the driving assistance user to perform a simulated driving operation to control the vehicle to continue driving. After a driver of the vehicle clicks a button, an auxiliary driving instruction is generated and is sent to a server of the remote control terminal by the vehicle, and then the auxiliary driving instruction sent by the vehicle is sent to a driving simulation device of the remote control terminal by the server of the remote control terminal, and after the auxiliary driving instruction associated with the vehicle is received by the driving simulation device of the remote control terminal, a steering wheel, a pedal plate and other driving simulation components can be set to be in an operating state.
In some optional implementations of the present embodiment, the secondary driving instruction may be generated based on the vehicle being driven to a risk area, at least a portion of the road objects within the risk area not being labeled in the high-precision map. The high-precision map comprises road objects such as lane lines, zebra crossings, stop lines, guide lines, traffic signs and the like and the marking data of the road objects. The marking data of lane line, zebra crossing, stop line, diversion line all contain: parameter equation, coordinates of the corner points in the world coordinate system. When at least some of the road objects within an area are not labeled in the high-precision map, i.e., at least some of the road objects do not have labeling data in the high-precision map, the area may be referred to as a risk area.
For example, a vehicle travels in a campus based on a high-definition map, and road objects in some areas in the campus are labeled in advance on the high-definition map of the campus, and the labeled road objects all have label data. When the vehicle runs to an area, the collected road condition images are subjected to image recognition, a plurality of road objects in the area are detected, and when the detected road condition images do not contain label data of the detected road objects in the high-precision map, the detected road objects can be determined not to be labeled in the high-precision map, the vehicle runs to a risk area, at the moment, the vehicle generates an auxiliary driving instruction, the auxiliary driving instruction is sent to a server of a remote control end by the vehicle, then the auxiliary driving instruction sent by the vehicle is sent to a simulated driving device of the remote control end by the server of the remote control end, and after the simulated driving device of the remote control end receives the auxiliary driving instruction associated with the vehicle, the simulated driving components such as a steering wheel, a pedal and the like can be set to be in an operating state.
In some optional implementation manners of this embodiment, whether the vehicle has the condition that needs to be sensed, such as vibration and slipping, during the running process can be detected by the vehicle, when the vehicle detects that the condition that needs to be sensed, such as vibration and slipping, during the running process, the vehicle can send the identifier of the condition that needs to be sensed, which occurs in the vehicle, to the server of the remote control end, and the server of the remote control end sends the identifier of the condition that needs to be sensed, which occurs in the vehicle, to the driving simulation device. The simulated driving device can determine a simulated perception operation associated with the condition needing to be perceived of the vehicle, and the simulated perception operation is used for enabling the auxiliary driving user to perceive the condition needing to be perceived of the vehicle. Then, the simulation perception operation is executed, so that the driver is assisted to perceive the situation needing perception of the vehicle. For example, when the vehicle has a vibration condition, the determined simulation perception operation comprises controlling a seat of a driver assistant user on the simulation driving device to simulate the vibration condition, and executing the simulation perception operation to enable the driver assistant user to perceive the vibration condition of the vehicle.
Referring to FIG. 3, an exemplary flow chart of a vehicle control method according to the present application is shown.
When the driver of the vehicle drives the vehicle to a place and needs to park the vehicle through the assistant driving, the assistant driving instruction operation performed by the driver of the vehicle may be to click a button requesting the assistant driving on an interface in an application of the terminal interacting with the automatic driving vehicle to request the assistant driving user to perform a simulation driving operation to control the vehicle to drive to a parking space for parking. After a driver of the vehicle clicks a button, an auxiliary driving instruction is generated and is sent to a server of the remote control terminal by the vehicle, and then the auxiliary driving instruction sent by the vehicle is sent to a driving simulation device of the remote control terminal by the server of the remote control terminal, and after the auxiliary driving instruction associated with the vehicle is received by the driving simulation device of the remote control terminal, a steering wheel, a pedal plate and other driving simulation components can be set to be in an operating state. A driving assisting user at the remote control end can perform a series of simulated driving operations related to controlling the vehicle to run to the parking space for parking through manipulating the simulated driving component on the simulated driving device, and accordingly, a series of auxiliary control instructions for controlling the vehicle to run to the parking space for parking are generated on the simulated driving device. The remote control end comprises a remote control end, a simulation driving device and a server, wherein the simulation driving device of the remote control end can send a series of auxiliary control instructions for controlling the vehicle to run to a parking space for parking to the server of the remote control end, the server of the remote control end sends the vehicle a series of auxiliary control instructions for controlling the vehicle to run to the parking space for parking, and after the vehicle receives the series of auxiliary control instructions, the vehicle executes the series of auxiliary control instructions, so that the vehicle runs to the parking space for parking to realize auxiliary driving of the vehicle.
Referring to fig. 4, as an implementation of the method shown in the above figures, the present application provides an embodiment of a vehicle control apparatus, which corresponds to the embodiment of the method shown in fig. 2.
As shown in fig. 4, the vehicle control apparatus of the present embodiment includes: instruction receiving section 401 and driving assistance section 402. Wherein the instruction receiving unit 401 is configured to receive an auxiliary driving instruction associated with the vehicle; the driving assistance unit 402 is configured to transmit an assistance control instruction to the vehicle to cause the vehicle to execute the assistance control instruction to control the vehicle, wherein the assistance control instruction is generated by a driving assistance user performing a simulated driving operation based on traveling environment information of the vehicle presented to the driving assistance user.
In some optional implementations of the embodiment, the received driving assistance instruction associated with the vehicle is one of: and the auxiliary driving instruction is sent by the vehicle, and the auxiliary driving instruction is input by the auxiliary driving user.
In some optional implementations of the present embodiment, the vehicle control apparatus further includes: a perception simulation unit configured to determine a simulated perception operation associated with a perception-needed situation occurring in the vehicle, wherein the simulated perception operation is used for enabling the driver assistant user to perceive the perception-needed situation occurring in the vehicle; and executing the simulation sensing operation.
In some optional implementations of the embodiment, the received driving assistance instruction associated with the vehicle is a driving assistance instruction sent by the vehicle, and the driving assistance instruction sent by the vehicle is generated based on an operation of a driving assistance instruction performed by a driver of the vehicle in a situation where driving assistance is needed.
In some optional implementations of this embodiment, the driving condition needing assistance is one of: parking situation, driver fatigue situation.
In some optional implementations of the present embodiment, the received driving assistance instruction associated with the vehicle is a driving assistance instruction transmitted by the vehicle, and the driving assistance instruction transmitted by the vehicle is generated based on the vehicle detecting that the vehicle is in a complex driving environment.
In some optional implementations of the present embodiment, the received driving assistance instruction associated with the vehicle is a driving assistance instruction transmitted by the vehicle, the driving assistance instruction transmitted by the vehicle is generated based on the vehicle traveling to a risk area, and at least a part of the road objects in the risk area are not labeled in the high-precision map.
The present application further provides an electronic device that may be configured with one or more processors; a memory for storing one or more programs, the one or more programs may include instructions for performing the operations described in the above embodiments. The one or more programs, when executed by the one or more processors, cause the one or more processors to perform the instructions of the operations described in the above embodiments.
The present application also provides a computer readable medium, which may be included in an electronic device; or the device can be independently arranged and not assembled into the electronic equipment. The computer-readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to perform the operations described in the embodiments above.
It should be noted that the computer readable medium described herein can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with a message execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with a message execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable messages for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer messages.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (14)
1. A vehicle control method comprising:
receiving a driving assistance instruction associated with a vehicle;
transmitting an auxiliary control instruction to the vehicle so that the vehicle executes the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by a driving assistance user performing a simulated driving operation based on traveling environment information of the vehicle presented to the driving assistance user;
determining a simulated perception operation associated with a perception-needed situation occurring in the vehicle, wherein the simulated perception operation is used for enabling the auxiliary driving user to perceive the perception-needed situation occurring in the vehicle;
and executing the simulation sensing operation.
2. The method of claim 1, the received driving assistance instruction associated with the vehicle being one of: and the auxiliary driving instruction is sent by the vehicle, and the auxiliary driving instruction is input by the auxiliary driving user.
3. The method according to claim 1, wherein the received driving assistance instruction associated with the vehicle is a driving assistance instruction transmitted by the vehicle, and the driving assistance instruction transmitted by the vehicle is generated based on an operation of a driving assistance instruction performed by a driver of the vehicle in a case where driving assistance is required.
4. The method of claim 3, the driving-assisted condition being one of: parking situation, driver fatigue situation.
5. The method of claim 1, the received driving assistance instruction associated with a vehicle being a driving assistance instruction transmitted by the vehicle, the driving assistance instruction transmitted by the vehicle being generated based on the vehicle detecting that the vehicle is in a complex driving environment.
6. The method of claim 1, the received driving assistance instruction associated with a vehicle being a driving assistance instruction transmitted by the vehicle, the driving assistance instruction transmitted by the vehicle being generated based on the vehicle traveling to a risk area, at least some road objects in the risk area not being labeled in the high-precision map.
7. A vehicle control apparatus comprising:
an instruction receiving unit configured to receive a driving assistance instruction associated with a vehicle; an auxiliary driving unit configured to transmit an auxiliary control instruction to the vehicle to cause the vehicle to execute the auxiliary control instruction to control the vehicle, wherein the auxiliary control instruction is generated by an auxiliary driving user performing a simulated driving operation based on traveling environment information of the vehicle presented to the auxiliary driving user;
a perception simulation unit configured to determine a simulated perception operation associated with a perception-needed situation occurring in the vehicle, wherein the simulated perception operation is used for enabling the driver assistant user to perceive the perception-needed situation occurring in the vehicle; and executing the simulation sensing operation.
8. The apparatus of claim 7, the received driving assistance instruction associated with the vehicle being one of: and the auxiliary driving instruction is sent by the vehicle, and the auxiliary driving instruction is input by the auxiliary driving user.
9. The apparatus according to claim 7, wherein the received driving assistance instruction associated with the vehicle is a driving assistance instruction transmitted by the vehicle, and the driving assistance instruction transmitted by the vehicle is generated based on an operation of a driving assistance instruction performed by a driver of the vehicle when driving assistance is required.
10. The apparatus of claim 9, the driving assistance situation being one of: parking situation, driver fatigue situation.
11. The apparatus of claim 7, the received driving assistance instruction associated with a vehicle being a driving assistance instruction transmitted by the vehicle, the driving assistance instruction transmitted by the vehicle being generated based on the vehicle detecting that the vehicle is in a complex driving environment.
12. The apparatus of claim 7, the received driving assistance instruction associated with a vehicle being a driving assistance instruction transmitted by the vehicle, the driving assistance instruction transmitted by the vehicle being generated based on the vehicle traveling to a risk area, at least some road objects in the risk area not being labeled in the high-precision map.
13. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs,
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method recited in any of claims 1-6.
14. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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| PCT/CN2019/112779 WO2020147362A1 (en) | 2019-01-16 | 2019-10-23 | Vehicle control method and device |
| EP19910878.8A EP3812867A4 (en) | 2019-01-16 | 2019-10-23 | Vehicle control method and device |
| JP2020568681A JP7399892B2 (en) | 2019-01-16 | 2019-10-23 | Vehicle control method and device, electronic equipment, computer readable storage medium and computer program |
| US17/116,973 US11599122B2 (en) | 2019-01-16 | 2020-12-09 | Vehicle control method and device |
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| CN109753069B (en) | 2019-01-16 | 2021-04-13 | 北京百度网讯科技有限公司 | Vehicle control method and device |
| CN112051840A (en) * | 2019-06-06 | 2020-12-08 | 长沙智能驾驶研究院有限公司 | Vehicle control method, device, equipment, system and storage medium |
| CN110488846A (en) * | 2019-09-19 | 2019-11-22 | 广州文远知行科技有限公司 | Unmanned remote assistance method, device, equipment and storage medium |
| CN110716481A (en) * | 2019-11-15 | 2020-01-21 | 徐州合卓机械科技有限公司 | Lorry-mounted crane remote control system based on 5g network |
| WO2023276207A1 (en) * | 2021-06-28 | 2023-01-05 | ソニーセミコンダクタソリューションズ株式会社 | Information processing system and information processing device |
| CN113655795A (en) * | 2021-08-16 | 2021-11-16 | 广州小鹏自动驾驶科技有限公司 | Remote driving control method and device, electronic equipment and computer readable storage medium |
| CN113619601B (en) * | 2021-08-20 | 2024-01-09 | 阿波罗智联(北京)科技有限公司 | Vehicle control method and device |
| CN114283601A (en) * | 2021-12-23 | 2022-04-05 | 深圳创维－Rgb电子有限公司 | Vehicle driving method, system, television and storage medium |
| CN114312817B (en) * | 2022-01-04 | 2023-10-20 | 岚图汽车科技有限公司 | Vehicle driving right switching method, device, equipment and medium |
| CN116795085B (en) * | 2023-08-28 | 2023-12-22 | 北京易控智驾科技有限公司 | Remote control driving method and device of unmanned vehicle, storage medium and vehicle |
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| DE10309934B4 (en) * | 2003-03-07 | 2005-03-17 | Audi Ag | Driving simulator and method for simulating the driving condition of a vehicle |
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| CN109753069B (en) * | 2019-01-16 | 2021-04-13 | 北京百度网讯科技有限公司 | Vehicle control method and device |
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| JP7399892B2 (en) | 2023-12-18 |
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